Vapor dryer having hydrophilic end effector

ABSTRACT

Embodiments of the present invention generally relate to an apparatus and methods for rinsing and drying substrates. One embodiment provides an end effector comprising a body having a contact tip for contacting an edge area of a substrate, wherein the end effector is configured to support the substrate while the substrate is in a rinsing bath and while the substrate is being dried from the rinsing bath, and the contact tip comprises a hydrophilic material.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 12/255,247 (Attorney Docket No. 10857.P1), filed Oct. 21, 2008, which is a continuation-in-part of U.S. patent application Ser. No. 11/967,533 (Attorney Docket No. 10857), filed Dec. 31, 2007, which claims benefit of U.S. Provisional Patent Application Ser. No. 60/882,894, filed Dec. 29, 2006. Each of the aforementioned patent applications is herein incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

Embodiments of the present invention generally relate to an apparatus and methods for rinsing and drying semiconductor substrates.

2. Description of the Related Art

As semiconductor device geometries continue to decrease, the importance of ultra clean processing increases. Aqueous cleaning within a tank of fluid (or a bath) followed by a rinsing bath (e.g., within a separate tank, or by replacing the cleaning tank fluid) achieves desirable cleaning levels. After removal from the rinsing bath, absent use of a drying apparatus, the bath fluid evaporates from the substrate's surface causing streaking, spotting and/or leaving bath residue on the surface of the substrate. Such streaking, spotting and residue can cause subsequent device failure. Accordingly, much attention has been directed to improved methods for drying a substrate as it is removed from an aqueous bath.

Marangoni drying is generally used in cleaning, rinsing and drying semiconductor substrates. Marangoni drying generally creates a surface tension gradient to induce bath fluid to flow from the substrate in a manner that leaves most surface areas on the substrate virtually free of bath fluid, and thus may reduce streaking, spotting and residue marks. During Marangoni drying, a solvent miscible with the bath fluid (e.g., isopropyl alcohol (IPA) vapor) is introduced towards a fluid meniscus which is formed as the substrate is lifted from the bath or as the bath fluid is drained past the substrate. The solvent vapor is absorbed along the surface of the fluid, with the concentration of the absorbed vapor being higher at the tip of the meniscus. The higher concentration of absorbed vapor causes surface tension to be lower at the tip of the meniscus than in the bulk of the bath fluid, causing bath fluid to flow from the meniscus toward the bulk bath fluid.

During the cleaning and drying process, a substrate is generally supported by one or more end effectors. The end effectors are generally designed to contact the substrate near the edge with minimized contact point. Hydrophobic materials are employed in forming or coating the end effector to repel the bath fluid and reduce streaking and other defects. One problem with marangoni drying is that there are bath fluid droplets formed between the substrate and end effectors causing spotting defects in the substrates. Additionally, grooves or chips are easily formed on the current end effectors due to contact with substrates, thus requiring frequent replacement of the end effectors.

Therefore, there is a need for a substrate drying system having improved substrate contacting end effectors.

SUMMARY OF THE INVENTION

Embodiments of the present invention generally relate to an apparatus and methods for rinsing and drying substrates. Particularly, embodiments of the present invention provide substrate drying system having one or more end effectors which reduce formation of fluid droplets during drying.

One embodiment provides an end effector comprising a body having a contact tip for contacting an edge area of a substrate, wherein the end effector is configured to support the substrate while the substrate is in a rinsing bath and while the substrate is being dried from the rinsing bath, and the contact tip comprises a hydrophilic material.

Another embodiment provides a substrate drying system comprising a chamber body defining a drying compartment configured to receive a substrate and to retain a rinsing bath therein, a substrate support disposed in the inner volume, wherein the substrate support is configured to support the substrate while the substrate is in the rinsing bath and while the substrate is being dried from the rinsing bath, and an end effector disposed on the substrate support, wherein contact tip is configured for contacting an edge area of the substrate, and the contact tip comprises a hydrophilic material.

Yet another embodiment provides a method for drying a substrate comprising merging the substrate in a rinsing bath, supporting the substrate using an end effector having a hydrophilic contact tip in the rinsing bath, removing the substrate from the rinsing bath while supporting the substrate on the hydrophilic contact tip of the end effector, and directing a drying vapor towards the substrate.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments.

FIG. 1 is a partial perspective view of a drying module according to an embodiment of the present invention;

FIG. 2 is a sectional top view of the drying module of FIG. 1.

FIG. 3 is a perspective view of a movable carrier having an end effector according to one embodiment of the present invention.

FIG. 4 is a perspective view of an end effector according to one embodiment of the present invention.

FIG. 5 is a flow chart reflecting a method for forming an end effector according to one embodiment of the present invention.

To facilitate understanding, identical reference numerals have been used, wherever possible, to designate identical elements that are common to the figures. It is contemplated that elements and/or process steps of one embodiment may be beneficially incorporated in other embodiments without additional recitation.

DETAILED DESCRIPTION

Embodiments of the present invention generally relate to an apparatus and methods for rinsing and drying substrates. Particularly, embodiments of the present invention provide substrate drying system having one or more end effectors which reduce formation of fluid droplets during drying. In one embodiment, an end effector comprising a hydrophilic material is used during rinsing and drying. The end effector may be formed entirely by a hydrophilic material or coated by a hydrophilic material. By using a hydrophilic material, formation of liquid droplets between the substrate and the end effector is reduced.

FIG. 1 is a partial perspective view of a drying module 110 according to an embodiment of the present invention. The drying module 110 may be used alone or in a group to enable high-throughput rinsing and drying of multiple substrates. For example, two or more drying modules can be positioned adjacent one other. The term ‘adjacent’ is defined herein to mean one or more of: attached to, closely adjoining, against, and/or spaced a short distance from. Accordingly, adjacent drying modules may be in contact and/or may be spaced a short distance from each other.

The module 110 may be slightly angled with respect to a vertical axis, for example, between 1 and 1.5 degrees from vertical in some embodiments, and up to 8 to 10 degrees in other embodiments. While the embodiment depicted illustrates depicts one module drying apparatus, more than one drying modules may be used. Sidewall 125 a may be used to mount one or more drying modules 110.

FIG. 2 is a sectional top view of the drying module 110. The drying module 110 comprises a back wall 219, a front wall 211, and sidewalls 215. The back wall 219, the front wall 211, and the sidewalls 215 define a drying compartment 210. In one embodiment, the drying compartment 210 has width and depth dimensions that define a sufficient internal volume to hold a rinsing fluid and a substrate of a desired size to be dried. FIG. 1 is a perspective view of the drying module 110 with the front wall 211 removed according to an embodiment of the present invention.

The drying compartment 210 may be filled to a suitable vertical level with a rinsing fluid. The rinsing fluid may comprise deionized water (DIW), one or more solvents, or any other chemical useful for drying a substrate and/or rinsing films and/or particulates from a substrate. One or more drain conduits and/or valves 224 may be positioned toward the bottom of the drying compartment 210 to empty used rinsing fluid, allowing the compartment to be replenished with clean rinsing fluid from an intake manifold 222 which is connected to one or more inject conduits and/or valves 223.

Each lateral surface 212, 214 of the drying compartment 210 includes an approximately vertically oriented groove 217. The groove 217 may be slightly angled from the vertical, for example, between about 1 to 1.5 degrees or at another suitable angle. Alternatively, as noted, the entire drying module 110 may be slightly angled. Each guide 218 a, 218 b may include any other device suitable for receiving the edge of a descending substrate and for supporting and/or positioning the substrate within the drying compartment 210. In some embodiments, the guides 218 a, 218 b may be V-shaped or U-shaped supporting surfaces, although other shapes may be used. The guides 218 a, 218 b may be stationary, or move within the respective groove 217.

The drying module 110 comprises one or more drying vapor conduits 220 positioned above the drying compartment 210. In one embodiment, the one or more drying vapor conduits 220 are coupled to the sidewall 125 a. While two drying vapor conduits 220 are shown in FIG. 1, other numbers of conduits, including a single conduit, may be used. In some embodiments, each drying vapor conduit 220 may be oriented horizontally to cover the horizontal width of the drying compartment 210 and may include a number of downward oriented holes, nozzles or other fluid delivery mechanisms along a length of the conduit 220. In operation, when a drying vapor is supplied to the drying vapor conduits 220, the drying vapor is dispensed from the conduits toward a substrate positioned between the conduits 220 in the drying compartment 210. For example, a first of the conduits 220 may direct drying vapor toward a front side of a substrate while a second of the conduits 220 may direct fluid toward a backside of the substrate. As is known to those of skill in the art, the drying vapor may comprise isopropyl alcohol (IPA) and/or another chemical suitable for reducing surface tension between a substrate and rinsing fluid as the substrate is drawn out of the rinsing fluid.

A support member 208 is coupled to the sidewall 125 a and configured to support a substrate during processing. In one embodiment, the support member 208 may be movably connected to the sidewall 125 a.

A gripping mechanism 255 adapted to grip an edge of a substrate also may be coupled to the support member 208. The gripping mechanism 255 may comprise one or more pads, pincers or other gripping surfaces 256 a, 256 b for contacting and/or supporting a substrate being loaded into or unloaded from the drying compartment 210. In some embodiments, the gripping mechanism 255 and gripping surfaces 256 a, 256 b may be adapted to move vertically via a rail 209 or other guide, as a substrate is raised or lowered relative to the drying compartment 210.

A substrate sensor 250 may be coupled to the support member 208. The sensor 250 may comprise an infrared sensor or other suitable sensor adapted to determine whether a substrate surface is positioned in front of or in the vicinity of the sensor. In some embodiments, the substrate sensor 250 may be rotatable between a vertical, active position and a horizontal, inactive position.

The controller 240 may be employed to control operation of the drying modules, such as detecting presence of a substrate, raising/lowering a substrate, controlling delivery or removal of a substrate via a robot, delivering/supplying of drying vapor during drying, and/or the like. The controller 240 may include one or more microprocessors, microcomputers, microcontrollers, dedicated hardware or logic, or a combination of the same.

The back wall 219 of the drying module 110 comprises a vertical rail 230 along which a movable carrier device 232 is adapted to move upward and downward. In one embodiment, the movable carrier device 232 is moved by a motor 241. In one embodiment, the movement of the movable carrier device 232 is in response to signals transmitted from the controller 240.

In one embodiment, the movable carrier device 232 comprises an end effector 233 on its upper end configured to receive and/or secure a lower edge of a substrate 234. The end effector 233 is configured to support a substrate 234 while the substrate 234 in the drying compartment 210 during rinsing. The end effector 233 is also configured to support the substrate 234 while the substrate 234 is being dried from a rinsing bath, for example when the substrate 234 is being raised from the drying compartment 210 and a rinsing bath is being drained from the drying compartment 210. In one embodiment, the end effector 233 has a contact tip 235 for contacting an edge area of the substrate 234. In one embodiment, the contact tip 235 comprises a hydrophilic material. In one embodiment, the end effector 233 may be formed entirely by a hydrophilic material. In another embodiment, the end effector 233 may be coated by a hydrophilic material. Detailed description of the end effector 233 is further provided with descriptions of FIGS. 3-5.

During operation, a robot arm (not shown) may transfer a substrate in a vertical position to the gripping mechanism 255 which is positioned directly above the drying compartment 210. The gripping mechanism 255 may hold the substrate 234 securely by application of a vacuum to a set of holes on the gripping mechanism's supporting surface, or via any other suitable mechanism such as releasable edge grippers that may be selectively. In one embodiment, the gripping mechanism 255 may be precisely activated and deactivated by the controller 240 to secure or release a substrate. While the gripping mechanism 255 holds the substrate 234 over the drying compartment 210, the carrier device 232 within the drying compartment 210 moves to the top of the rail 230 via the motor 241. In this position, the top of the carrier device 232 is positioned adjacent the bottom edge of the substrate 234.

The gripping mechanism 255 is shifted from its initial position downward toward the drying compartment 210 to lower the substrate 234 with the carrier device 232 into the drying compartment 210 between the drying vapor conduits 220. The carrier device 232 may be lowered by motor 241 or passively forced downward by the action of the gripping mechanism 255. As the substrate 234 descends between the drying vapor conduits 220, the substrate 234 is received at its edge by the guides 218 a.

After the substrate 234 descends a predefined distance within the drying compartment 210, as determined by the position of the carrier device 232, the gripping mechanism 255 disengages from the substrate 234. Once the substrate 234 is disengaged, the substrate 234 is supported by the end effector 233 of the carrier device 232, and the carrier device 232 moves downward bringing the substrate 234 further into the drying compartment 210 to a bottom position for processing. In this bottom position, the substrate 234 may be completely submerged in a rinsing fluid.

Once a predetermined time has elapsed and/or rinsing operations have been performed, the substrate 234 is lifted by the movable carrier device 232 from the bottom position. As the substrate 234 is lifted, the substrate 234 rests on the end effector 233 and maintains a vertical or approximately vertical (e.g., between 1 and 1.5 degrees from vertical) orientation because the substrate's motion is constrained by the guides 218 a and/or 218 b. The substrate 234 emerges from the rinsing fluid while supported by the end effector 233. The drying vapor conduits 220 spray drying vapor toward the substrate 234 and rinsing fluid as the substrate 234 emerges. As indicated, the drying vapor reduces surface tension between the substrate 234 and the rinsing fluid as the substrate emerges, which prevents a film of rinsing fluid from forming on and sticking to the substrate surface.

When the top of the substrate 234 has moved a certain distance out of the drying compartment 210 and has cleared the top edge of the drying compartment 210, the substrate 234 contacts the gripping mechanism 255, which grips the edge of the substrate 234. At this stage, the gripping mechanism 255 may lift the substrate 234 from the movable carrier device 232 may release and go further up. The substrate sensor 250 may be used to detect when the substrate 234 has been lifted out of the drying compartment 210.

Once the substrate sensor 250 indicates that the substrate 234 is complete out of the drying department, the robot arm may move in to remove the substrate 234 from the gripping mechanism 255 and transfer the substrate 234 for subsequence processing.

FIG. 3 is a perspective view of the movable carrier device 232 with the end effector 233 according to one embodiment of the present invention. FIG. 4 is a perspective view of the end effector 233 according to one embodiment of the present invention. The end effector 233 comprises a body 242 having a contact tip 235 formed in an upper portion. In one embodiment, the body 242 may be a cylindrical rod having a stage 236 formed in a lower portion. The stage 236 may be configured to mount the end effector 233 in the movable carrier device 232 so that the contact tip 235 is substantially perpendicular to an edge of the substrate 234. The contact tip 235 may be formed by machining two chamfers 237, 238 on opposite sides of the body 242.

In one embodiment, the end effector 233 comprises a hydrophilic material. In one embodiment, the contact tip 235 of the end effector 233 may be formed entirely by a hydrophilic material or coated by a hydrophilic material. Traditionally, hydrophobic materials, such as Polyetheretherketone (PEEK), are used in end effectors for substrate drying systems because it is believed that hydrophobic end effectors deter fluid residuals between substrates and the end effectors when the substrates are lifted from a liquid bath. However, our experiments have shown that hydrophilic end effectors reduce formation liquid droplets near edges of substrates when used to lift substrates from a liquid bath, therefore, reducing defects caused by residual droplets between the substrates and the end effectors.

In one embodiment, the end effector 233 is formed by quartz. FIG. 5 is a flow chart reflecting a method 300 for forming the end effector 233 from quartz according to one embodiment of the present invention.

In block 310, a quartz end effector may be formed from a quartz body. Formation of the quartz end effector generally comprises forming a contact tip, such as the contact tip 235 of the end effector 233. In one embodiment forming the contact tip comprises two chamfers on opposite sides of an end effect body, such as the chamfers 237, 238 of the end effector 233. The chamfers, such as the chambers 237, 238, generally have an angle that ranges between about 45° to about 60° degrees relative to each other. One skilled in the art will appreciate that other angles may be utilized. The contact tip, such as the contact tip 235, may have a radius of between about 0.005 inch to about 0.02 inch.

In one embodiment, radius of the contact tip, such as the contact tip 235, may be set to a radius within a predetermined range to reduce stress on the contact top and thereby preventing cracks. In one embodiment, the contact tip, such as the contact tip 235, may have a radius of about 0.010 inch.

Formation of the quartz end effector may further comprise forming mounting structures, such as the stage 236 of the end effector 233.

In block 320, the quartz end effector is polished to fuse any chips or cracks in the quart end effector. In one embodiment, the contact tip is polished. In another embodiment, all sharp edges in the end effectors are polished. Polishing generally fuses any cracks or chips that may be present at the contact tip or any other edges and prevent the cracks and chips from propagating into fractures. Fused contact tip typically has increased impact resistance and not prone to chipping. In one embodiment, polishing is generally in the form of heat polishing such as laser polishing or flame polishing. In one embodiment, the polishing is performed by a flame polishing at a temperature between about 1500° C. to about 1700° C.

In block 330, the quartz end effector may be optionally annealed. In one embodiment, annealing may be performed by heating the end effector to an elevated temperature. In one embodiment, the elevated temperature may be about 1165° C. degrees.

In block 340, the quartz end effector may be textured. In one embodiment, the entire surface area of the quartz end effector may be textured to achieve a roughness of about 70 to about 93 RA. In one embodiment, texturing the quartz end effector may be performed by bead blasting. In one embodiment, aluminum oxide (Al₂O₃) beads are used to bead blast the quartz end effector in texturing.

In block 350, the polished end effector may be optionally cleaned to remove particles or any other contaminations. In one embodiment, cleaning the end effector may comprise degreasing, soft pad buffing, ultrasonic cleaning, brush cleaning, hydrofluoric (HF) acid dipping, or combinations thereof.

The foregoing description discloses only exemplary embodiments of the invention. Modifications of the above disclosed apparatus and methods which fall within the scope of the invention will be readily apparent to those of ordinary skill in the art. For instance, end effectors of the present invention may be used in apparatus other than dryers.

Accordingly, while the present invention has been disclosed in connection with specific embodiments thereof, it should be understood that other embodiments may fall within the spirit and scope of the invention, as defined by the following claims. 

1. An end effector, comprising: a body having a contact tip for contacting an edge area of a substrate, wherein the end effector is configured to support the substrate while the substrate is in a rinsing bath and while the substrate is being dried from the rinsing bath, and wherein the contact tip comprises a hydrophilic material.
 2. The end effector of claim 1, wherein the hydrophilic material reduces formation of liquid droplets of the rinsing bath near the edge area of the substrate when the contact tip is used to lift the substrate from the rinsing bath therefore reducing defects caused by residual droplets of the rinsing bath between the substrate and the end effector.
 3. The end effector of claim 1, wherein the entire end effector is formed from the hydrophilic material.
 4. The end effector of claim 3, wherein the hydrophilic material is quartz.
 5. The end effector of claim 4, wherein the contact tip is polished to fuse cracks and chips.
 6. The end effector of claim 5, wherein the end effector is annealed after polishing.
 7. The end effector of claim 1, wherein the end effector is coated with the hydrophilic material.
 8. The end effector of claim 1, wherein the body is a cylindrical rod having a stage for mounting the end effector in a movable carrier device formed in a lower portion of the body.
 9. The end effector of claim 1, wherein the contact tip is formed by machining two chamfers on opposite sides of the body.
 10. The end effector of claim 9, wherein the chamfers have an angle between about 45 degrees to about 60 degrees relative to each other.
 11. The end effector of claim 1, wherein the contact tip has a radius of between about 0.005 inches to about 0.02 inches.
 12. The end effector of claim 1, wherein an entire surface area of the end effector is texture to achieve a roughness of about 70 to about 90 RA.
 13. A method of forming a quartz end effector, comprising: forming a contact tip for contacting an edge area of a substrate tip from a quartz body by forming two chamfers on opposite sides of the quartz body; forming mounting structures in a lower portion of the quartz body; and polishing the quartz end effector to fuse any cracks or chips that may be present at the contact tip or any other edges.
 14. The method of claim 13, wherein the quartz material reduces formation of liquid droplets of a rinsing bath near the edge area of the substrate when the contact tip is used to lift the substrate from the rinsing bath therefore reducing defects caused by residual droplets of the rinsing bath between the substrate and the end effector.
 15. The method of claim 13, wherein the chamfers have an angle between about 45 degrees to about 60 degrees relative to each other.
 16. The method of claim 13, wherein the contact tip has a radius of between about 0.005 inches to about 0.02 inches.
 17. The method of claim 13, wherein polishing the quartz end effector comprises flame polishing the quartz end effector at a temperature between about 1500 degrees Celsius and 1700 degrees Celsius.
 18. The method of claim 13, further comprising: annealing the end effector at an elevated temperature after polishing the end effector.
 19. The method of claim 13, further comprising: texturing an entire surface area of the quartz end effector to achieve a roughness of about 70 to about 90 RA.
 20. The method of claim 19, wherein texturing an entire surface area of the quartz end effector comprises bead blasting the entire surface area of the quartz end effector. 